Abstract: System and method for providing both powered and free swing operation in a powered orthotic exoskeleton joint. The joint includes a processor controllable ratchet wheel and pawl type clutch, configured to engage or disengage upon receiving force from a servo actuator. When the processor determines that the clutch should be engaged, it directs the powered actuator to couple the pawls to the ratchet wheel, allowing torque to be transferred from the joint's powered motor, through the clutch, to the gearing that subsequently controls the motion of the joint. Conversely, the processor can direct the powered actuator to decouple the pawls from the ratchet wheel. This in turn decouples the ratchet wheel from the motor, thus allowing the remainder of the joint and any associated joint gearing to engage in relatively free swing motion, without any interference from the motor.

Abstract: A method of operating an exoskeleton device includes: receiving sensor information; connecting a clutch system to a pulley system in; determining whether to engage a drive train gear to the clutch system based on the sensor information; engaging the drive train gear through the clutch system when determined to engage the drive train gear; and powering a first motor to drive the drive train gear for controlling a joint or segment of exoskeleton device.

Abstract: System and method for providing both powered and free swing operation in a powered orthotic exoskeleton joint. The joint includes a processor controllable ratchet wheel and pawl type clutch, configured to engage or disengage upon receiving force from a servo actuator. When the processor determines that the clutch should be engages, it directs the powered actuator to couple the pawls to the ratchet wheel, allowing torque to be transferred from the joint's powered motor, through the clutch, to the gearing that subsequently controls the motion of the joint. Conversely, the processor can direct the powered actuator to decouple the pawls from the ratchet wheel. This in turn decouples the ratchet wheel from the motor, thus allowing the remainder of the joint and any associated joint gearing to engage in relatively free swing motion, without any interference from the motor.

Abstract: A method of operating an exoskeleton device includes: receiving sensor information; connecting a clutch system to a pulley system in; determining whether to engage a drive train gear to the clutch system based on the sensor information; engaging the drive train gear through the clutch system when determined to engage the drive train gear; and powering a first motor to drive the drive train gear for controlling a joint or segment of exoskeleton device.